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    孟兆新, 曹甲甲, 朱莉, 马婧尧, 石晋菘. 木材曲线锯送料平台动力学解析及补偿控制策略研究[J]. 北京林业大学学报, 2020, 42(2): 159-166. DOI: 10.12171/j.1000-1522.20190234
    引用本文: 孟兆新, 曹甲甲, 朱莉, 马婧尧, 石晋菘. 木材曲线锯送料平台动力学解析及补偿控制策略研究[J]. 北京林业大学学报, 2020, 42(2): 159-166. DOI: 10.12171/j.1000-1522.20190234
    Meng Zhaoxin, Cao Jiajia, Zhu Li, Ma Jingyao, Shi Jinsong. Kinetics analysis and strategy of compensation control study for feeding platform of curve saw for wood[J]. Journal of Beijing Forestry University, 2020, 42(2): 159-166. DOI: 10.12171/j.1000-1522.20190234
    Citation: Meng Zhaoxin, Cao Jiajia, Zhu Li, Ma Jingyao, Shi Jinsong. Kinetics analysis and strategy of compensation control study for feeding platform of curve saw for wood[J]. Journal of Beijing Forestry University, 2020, 42(2): 159-166. DOI: 10.12171/j.1000-1522.20190234

    木材曲线锯送料平台动力学解析及补偿控制策略研究

    Kinetics analysis and strategy of compensation control study for feeding platform of curve saw for wood

    • 摘要:
      目的送料平台是模仿木材锯切时人工送料研发的新型机构,平台末端姿态的准确性是保障锯切质量的关键。但是平台驱动支链多,误差从硬件方面进行控制很难实现,为提高板材曲线锯切时的送料精确度,本文提出一种补偿控制策略。
      方法运用拉格朗日法建立平台的动力学传递函数,通过动力学解析,分析平台关键部件的运动特征。通过数学解算、模拟仿真等方法,研究末端姿态的误差及其特性,从而建立相应的误差模型;以传统PID控制为基础,融合RBF神经网络进行参数优化,设计适用于送料平台的单神经元PID控制器,用以补偿各支链的驱动位移误差,实现实时补偿控制;运用Matlab和Adams联合仿真的方法对补偿控制策略进行验证和分析,并将成功的算法移植到试验台控制器中进行板材锯切试验。
      结果经文中设计的单神经元PI经文中设计的单神经元PID算法补偿后,送料平台末端轨迹曲线在XY方向偏移误差从补偿前的3 mm降至小于等于1.5 mm,倾斜角误差从补偿前的3.5°降至1.5°,平台末端轨迹曲线与指令曲线相比,在大部分曲线段完全重合。
      结论文中所设计的单神经元PID补偿控制策略可以有效提高木工锯送料平台末端姿态的准确性,经过补偿控制的送料平台可以实现板材的精密曲线锯切任务。

       

      Abstract:
      ObjectiveFeeding platform is a mechanism designed by imitating manual feeding when sawing wood board. The posture of platform end is the key to ensure sawing quality. A compensation control strategy was proposed in this paper to enhance the accuracy of end posture as the error of platform cannot be simply and efficiently compensated just through hardware.
      MethodFirstly, Lagrange method was used to establish the dynamic transfer function of the platform. Through dynamic analysis, the motion characteristics of the key components of the platform were analyzed. By simulation and other methods, according to mathematical solution, the error and its characteristics of the end posture were studied, thus a simple error model was established. Secondly, based on the traditional PID control and the parameter optimization function of RBF neural network, a single neuron PID controller suitable for the feeding platform was designed to compensate the driving displacement relation of each branch chain and to carry out real-time compensation control on the mechanism. Finally, the compensation control strategy was verified and analyzed by the joint method of Matlab and Adams, and the algorithm was transplanted to the controller of the feeding platform successively.
      ResultAfter compensation by the single neuron PID algorithm, the offset error of the end trajectory curve of the feeding platform in X and Y directions was reduced from 3 mm to less than 1.5 mm, and the angle error was reduced from 3.5° to 1.5°, and in most curve segments, the end trajectory curve of the platform completely coincides with the command curve.
      ConclusionThe SN-PID proposed by this paper can effectively improve the accuracy of the end posture of the woodworking saw feeding platform, and the feeding platform after compensation control can realize the precise cutting task of the wood plate.

       

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